PROBLEM TO BE SOLVED: To provide a walking assist robot that prevents a care receiver from toppling down, uses the residual voluntary motor functions in him/her, allows him/her to do training for a long time with less fatigue, and can provide him/her with walking training while moving.SOLUTION: A walking assist robot includes: a drive unit for providing a care receiver with walking training a sensor for measuring the motion of the trunk a sensor for measuring the motion of the lower limbs and a sensor for measuring the swing of the arms. In the walking assist robot, whether the care receiver will topple down or not is determined from the measuring results of each sensor, when the determination is "toppling down," commands for preventing him/her from toppling down are generated, and when the determination is "not toppling down," ordinary training is continued. The drive unit assists/suppresses the forward or backward movement and the movement of turning right or left of the whole body of the care receiver. The walking assist robot also includes: a moving unit which has driving wheels of independent two-wheel drive for assisting/suppressing the swing including the lateral movement and the turning movement in the horizontal plane of the waist a trunk supporting unit for assisting/restraining another part of the swing of the waist and assisting/suppressing the input by an arm swing input unit which enters the swing of the arms and a lower limb drive unit for assisting/suppressing the movement of the lower limbs around the joints of the groins, knees, and feet of the care receiver.COPYRIGHT: (C)2014,JPO&INPIT【課題】転倒を防止し、残存する随意性を生かし、疲労が少なく長時間の訓練ができ、移動式の歩行訓練が可能な歩行介助ロボットを提供する。【解決手段】被介助者の歩行を訓練する駆動部と、体幹の運動を計測するセンサ、下肢の運動を計測するセンサ、腕の振りを計測するセンサを備え、各センサの計測結果から被介助者が転倒するか否かを判定し、「転倒」と判断した場合にはこれを防ぐ指令を生成し、「転倒でない」と判断した場合には通常訓練を続行し、前記駆動部が、被介助者の前後・左右旋回への身体全体の移動を介助・抑制し、かつ腰の横移動および水平面内の旋回を含む揺動に関して介助・抑制する独立二輪駆動の駆動輪を備えた移動部と、腰の揺動の他の一部を介助・拘束し、かつ腕の振りを入力する腕振り入力部による入力を介助・抑制する体幹支持部と、被介助者の股・膝・足の関節まわりの
